EP3618022B1 - Fernsteuerungsvorrichtung und fernsteuerungsverfahren für ein automatisch fahrendes fahrzeug und server - Google Patents

Fernsteuerungsvorrichtung und fernsteuerungsverfahren für ein automatisch fahrendes fahrzeug und server Download PDF

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Publication number
EP3618022B1
EP3618022B1 EP19194576.5A EP19194576A EP3618022B1 EP 3618022 B1 EP3618022 B1 EP 3618022B1 EP 19194576 A EP19194576 A EP 19194576A EP 3618022 B1 EP3618022 B1 EP 3618022B1
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EP
European Patent Office
Prior art keywords
target wireless
automatic driving
driving vehicle
remote control
acquiring
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EP19194576.5A
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English (en)
French (fr)
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EP3618022A1 (de
Inventor
Jialin Yang
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Apollo Intelligent Driving Technology Beijing Co Ltd
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Baidu Online Network Technology Beijing Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/382—Monitoring; Testing of propagation channels for resource allocation, admission control or handover
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0053—Allocation of signaling, i.e. of overhead other than pilot signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/18—Selecting a network or a communication service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H04W72/27—Control channels or signalling for resource management between access points
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
    • H04W72/543—Allocation or scheduling criteria for wireless resources based on quality criteria based on requested quality, e.g. QoS
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/40—Remote control systems using repeaters, converters, gateways
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/40—Remote control systems using repeaters, converters, gateways
    • G08C2201/42—Transmitting or receiving remote control signals via a network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/50—Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/60—Security, fault tolerance
    • G08C2201/63—Redundant transmissions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/90—Additional features
    • G08C2201/91—Remote control based on location and proximity

Definitions

  • Embodiments of the present disclosure relate to a field of automatic driving technology, and more particularly, to a server, a remote control device, and a remote control method for an automatic driving vehicle.
  • a remote control terminal usually adopts a wireless channel of a single fixed network to remotely interact with the automatic driving vehicle, so as to manually control the automatic driving vehicle.
  • the wireless communication delay between the remote control terminal and the automatic driving vehicle is unstable, and the control instruction of the remote control terminal cannot be transmitted to the automatic driving vehicle in time, such that the response operation of the autonomous vehicle is limited and the driving safety of the vehicle is affected
  • the present disclosure aims to solve at least one of the above problems to at least some extent.
  • a first objective of the present disclosure is to provide a remote control method for an automatic driving vehicle, with which a control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, and the driving safety of the automatic driving vehicle is improved.
  • a second objective of the present disclosure is to provide a remote control device for an automatic driving vehicle.
  • a third objective of the present disclosure is to provide a server.
  • a fourth objective of the present disclosure is to provide a remote control system for an automatic driving vehicle.
  • a fifth objective of the present disclosure is to provide a non-transitory computer readable storage medium.
  • a sixth objective of the present disclosure is to provide a computer program product.
  • embodiments of a first aspect of the present disclosure provide a remote control method for an automatic driving vehicle.
  • the method is applied to a server and includes: receiving a remote control request transmitted by an automatic driving vehicle; acquiring current geographic location information of the automatic driving vehicle according to information carried by the remote control request; acquiring a target wireless channel with a shortest communication delay from a plurality of candidate wireless channels of a plurality of candidate wireless networks according to the current geographic location information, and acquiring a target wireless network corresponding to the target wireless channel; determining a control instruction according to the remote control request; and transmitting the control instruction to the automatic driving vehicle by using the target wireless channel of the target wireless network.
  • the target wireless channel of the target wireless network with the shortest communication delay is acquired from the plurality of candidate wireless channels of the plurality of candidate wireless networks according to the current geographic location of the automatic driving vehicle, and a corresponding control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • a remote control device for an automatic driving vehicle.
  • the device includes: a receiving module, configured to receive a remote control request transmitted by an automatic driving vehicle; a first acquiring module, configured to acquire current geographic location information of the automatic driving vehicle according to information carried by the remote control request; a second acquiring module, configured to acquire a target wireless channel with a shortest communication delay from a plurality of candidate wireless channels of a plurality of candidate wireless networks according to the current geographic location information, and acquire a target wireless network corresponding to the target wireless channel; a first determining module, configured to determine a corresponding control instruction according to the remote control request; and a transmitting module, configured to transmit the control instruction to the automatic driving vehicle by using the target wireless channel of the target wireless network.
  • the target wireless channel of the target wireless network with the shortest communication delay is acquired from the plurality of candidate wireless channels of the plurality of candidate wireless networks according to the current geographic location of the automatic driving vehicle, and a corresponding control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • inventions of a third aspect of the present disclosure provide a server.
  • the server includes a processor and a memory.
  • the processor is configured to run a program corresponding to executable program codes by reading the executable program codes stored in the memory, for implementing the remote control method for an autonomous vehicle according to the above embodiments.
  • the target wireless channel of the target wireless network with the shortest communication delay is acquired from the plurality of candidate wireless channels of the plurality of candidate wireless networks according to the current geographic location of the automatic driving vehicle, and a corresponding control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • a remote control system for an automatic driving vehicle.
  • the system comprises a server and an automatic driving vehicle.
  • the server is configured to receive a remote control request transmitted by the automatic driving vehicle, to acquire current geographic location information of the automatic driving vehicle according to information carried by the remote control request, to acquire a target wireless channel with a shortest communication delay from a plurality of candidate wireless channels of a plurality of candidate wireless networks according to the current geographic location information, to acquire a target wireless network corresponding to the target wireless channel, to determine a corresponding control instruction according to the remote control request; and to transmit the control instruction by using the target wireless channel of the target wireless network.
  • the automatic driving vehicle is configured to transmit the remote control request to the server, and to receive the control instruction transmitted by the server.
  • embodiments of a fifth aspect of the present disclosure provide a non-transitory computer readable storage medium having a computer program stored thereon.
  • the computer program is executed by a processor, the remote control method for an automatic driving vehicle according to embodiments of the present disclosure is implemented.
  • embodiments of a sixth aspect of the present disclosure provide a computer program product.
  • the remote control method for an automatic driving vehicle according to embodiments of the present disclosure is implemented.
  • Fig. 1 is a flow chart of a remote control method for an automatic driving vehicle according to an embodiment of the present disclosure.
  • the remote control method for an automatic driving vehicle may include the following steps.
  • step 101 a remote control request transmitted by an automatic driving vehicle is received.
  • the remote control method for the automatic driving vehicle of this embodiment is applied to a remote control device for an automatic driving vehicle, and the remote control device for the automatic driving vehicle is located on a server.
  • the automatic driving vehicle may transmit the remote control request to the server corresponding to the remote control.
  • the remote control of the automatic driving vehicle is required in the situations including, but not limited to, a situation in which the automatic driving vehicle encounters a condition outside the range of known driving conditions, a sudden acceleration or deceleration of the automatic driving vehicle, a malfunction of the automatic driving control strategy of the automatic driving vehicle, which is not limited in the embodiment.
  • the automatic driving vehicle stops moving forward and transmits the remote control request to the server, such that the server controls the automatic driving vehicle to keep moving or change lanes.
  • step 102 current geographic location information of the automatic driving vehicle is acquired according to information carried by the remote control request.
  • the server transmits a positioning request carrying the vehicle identification information to a location-based positioning server.
  • the positioning server acquires geographical location information corresponding to the vehicle identification information, and feeds back the geographical location information to the server.
  • the geographical location information fed back by the positioning server is the current geographical location information of the automatic driving vehicle.
  • the server acquires the geographical location information corresponding to the vehicle identification information.
  • the acquired geographical location information is the current geographical location information of the automatic driving vehicle.
  • the server acquires the geographical location information corresponding to the global positioning information.
  • the acquired geographical location information is the current geographical location information of the automatic driving vehicle.
  • a target wireless channel with a shortest communication delay is acquired from a plurality of candidate wireless channels of a plurality of candidate wireless networks according to the current geographic location information, and a target wireless network corresponding to the target wireless channel is acquired.
  • the plurality of candidate wireless networks may be a plurality of different mobile communication networks.
  • the plurality of candidate wireless networks may be a plurality of wireless networks provided by a plurality of different mobile communication service providers.
  • communication delays of respective candidate wireless channels of the candidate wireless networks at the current geographic location are acquired according to a pre-stored correspondence among geographic locations, wireless networks, wireless channels, and communication delays, and then the target wireless channel with the shortest communication delay is determined according to the communication delays of the respective candidate wireless channels, and the target wireless network corresponding to the target wireless channel is acquired.
  • the communication delay corresponding to the wireless channel of each wireless network may be obtained by using a sniff technology.
  • the communication delay corresponding to the wireless channel of each wireless network is obtained by using the sniff technology as follows.
  • the server For each geographic location, the server sends a PING probe packet to a test terminal located at the current geographic location by using a preset wireless channel of a preset wireless network, and records the transmitting time of the PING probe packet, and obtains the receiving time of the test terminal sending the PING reply packet, and determines the communication delay of the preset wireless channel of the preset wireless network at the current geographical location according to the transmitting time and the receiving time.
  • the test terminal may be any electronic device having a communication function, and the test terminal may be an electronic device such as a smart phone, an automatic driving vehicle, or a portable device, which is not limited in the embodiment.
  • a control instruction is determined according to the remote control request.
  • the control instruction may be a lane changing instruction, a forwarding instruction, a driving mode adjusting instruction, and the like.
  • the corresponding control command can be determined in combination with the actual situation of the automatic driving vehicle, which is not limited in the embodiment.
  • the information carried by the remote control request may include not only the vehicle identification information of the automatic driving vehicle or the global positioning information of the automatic driving vehicle, but also surrounding environment information and vehicle state information of the automatic driving vehicle, and the like, so that the server may determine a corresponding control instruction according to the surrounding environment information and the vehicle state information of the automatic driving vehicle.
  • control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network.
  • the target wireless channel of the target wireless network with the shortest communication delay is acquired from the plurality of candidate wireless channels of the candidate wireless networks according to the current geographic location of the automatic driving vehicle, and the control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • Fig. 2 is a flow chart of a remote control method for an automatic driving vehicle according to another embodiment of the present disclosure.
  • the remote control method for an automatic driving vehicle may include the following steps.
  • a remote control request transmitted by an automatic driving vehicle is received.
  • step 202 current geographic location information of the automatic driving vehicle is acquired according to information carried by the remote control request.
  • steps 101-102 are applicable to steps 201-202 of the embodiment, and details are not described herein again.
  • a receiving time of the remote control request is acquired.
  • a target wireless channel with a shortest communication delay is acquired from a plurality of candidate wireless channels of a plurality of candidate wireless networks according to the current geographic location information and the receiving time, and a target wireless network corresponding to the target wireless channel is acquired.
  • the wireless channel used by the wireless network may be different in different time periods. Therefore, as an exemplary implementation, after obtaining the receiving time and the current geographical location information of the automatic driving vehicle, communication delays corresponding to respective candidate wireless channels of the candidate wireless networks are determined according to the receiving time and the current geographic location information.
  • the target wireless channel with the shortest communication delay is acquired according to the communication delays of respective candidate wireless channels of the candidate wireless networks, and the target wireless network corresponding to the target wireless channel is determined.
  • communication delays of respective candidate wireless channels of the candidate wireless networks at the current geographic location during the time period at which the receiving time is located are acquired according to the pre-stored correspondence among time periods, geographic locations, wireless networks, wireless channels, and communication delays, and then the target wireless channel with the shortest communication delay is determined according to the communication delays of respective candidate wireless channels of the target wireless networks, and the target wireless network corresponding to the target wireless channel is acquired.
  • a control instruction is determined according to the remote control request.
  • control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network.
  • the target wireless channel with the shortest communication delay is acquired from the plurality of candidate wireless channels of the candidate wireless networks according to the current geographic location of the automatic driving vehicle and the receiving time of the remote control request, and the target wireless network corresponding to the target wireless channel is acquired, and then the control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • the number of the target wireless network is N, where N is a positive integer greater than one.
  • the method may further include the following steps, as illustrated in Fig. 3 .
  • priorities corresponding to the N target wireless networks are acquired.
  • the priority of each of the target wireless networks at the current geographic location is obtained according to the pre-stored correspondence among geographic locations, wireless networks and priorities.
  • the historical usage number of each of the target wireless networks at the current geographic location is obtained, and the priority of each of the target wireless networks is determined according to the historical usage number of each of the target wireless networks.
  • a target wireless network with a highest priority is acquired according to the priorities corresponding to the N target wireless networks, and the target wireless network with the highest priority is taken as the target wireless network.
  • a wireless channel corresponding to the target wireless network with the highest priority level is acquired and served as the target wireless channel.
  • the target wireless network with the highest priority is determined according to priorities of the target wireless networks, and remote interaction with the automatic driving vehicle is performed by using the wireless channel of the target wireless network with the highest priority, so that the control instruction can reach the automatic driving vehicle in time, thereby ensuring real-time communication between the server and the automatic driving vehicle, improving the driving safety of the automatic driving vehicle and satisfying the remote interaction requirements of the automatic driving vehicle.
  • the present disclosure further provides a remote control device for an automatic driving vehicle.
  • Fig. 4 is a schematic block diagram of a remote control device for an automatic driving vehicle according to an embodiment of the present disclosure.
  • the remote control device for an automatic driving vehicle includes a receiving module 110, a first acquiring module 120, a second acquiring module 130, a first determining module 140, and a transmitting module 150.
  • the receiving module 110 is configured to receive a remote control request transmitted by an automatic driving vehicle.
  • the first acquiring module 120 is configured to acquire current geographic location information of the automatic driving vehicle according to information carried by the remote control request.
  • the second acquiring module 130 is configured to acquire a target wireless channel with a shortest communication delay from a plurality of candidate wireless channels of a plurality of candidate wireless networks according to the current geographic location information, and acquire a target wireless network corresponding to the target wireless channel;
  • the first determining module 140 is configured to determine a corresponding control instruction according to the remote control request.
  • the transmitting module 150 is configured to transmit the control instruction to the automatic driving vehicle by using the target wireless channel of the target wireless network.
  • the first determining module 150 is configured to: acquire communication delays of respective candidate wireless channels of the plurality of candidate wireless networks at the current geographic location according to a pre-stored correspondence among geographic locations, wireless networks, wireless channels, and communication delays; and determine the target wireless channel with the shortest communication delay according to the communication delays of respective candidate wireless channels, and acquire the target wireless network corresponding to the target wireless channel.
  • the device may further include a third acquiring module 160, and a second determining module 170.
  • the third acquiring module 160 is configured to acquire a receiving time of the remote control request.
  • the second determining module 170 is configured to acquire the target wireless channel with the shortest communication delay from the plurality of candidate wireless channels of the candidate wireless networks according to the receiving time and the current geographic location information, and acquire the target wireless channel corresponding to the target wireless network.
  • the second determining module 170 is configured to determine communication delays of respective candidate wireless channels of the candidate wireless networks according to the current geographic location information and the receiving time; and acquire the target wireless channel with the shortest communication delay according to communication delays of the respective candidate wireless channels, and determine the target wireless network corresponding to the target wireless channel.
  • the second determining module 170 is configured to acquire communication delays of respective candidate wireless channels of the candidate wireless networks at the current geographic location during the time period at which the receiving time is located, according to the pre-stored correspondence among time periods, geographic locations, wireless networks, wireless channels, and communication delays, and acquire the target wireless channel with the shortest communication delay according to the communication delays of the respective candidate wireless channels of the candidate wireless networks, and determine the target wireless network corresponding to the target wireless channel.
  • the number of the target wireless network is N, where N is a positive integer greater than one.
  • the device may further include a fourth acquiring module 180, a fifth acquiring module 190, and a sixth acquiring module 200.
  • the fourth acquiring module 180 is configured to acquire priorities corresponding to the N target wireless networks.
  • the fifth acquiring module 190 is configured to acquire the target wireless network with the highest priority according to the priorities corresponding to the N target wireless networks, and take the target wireless network with the highest priority as the target wireless network.
  • the sixth acquiring module 200 is configured to acquire a wireless channel corresponding to the target wireless network with the highest priority as the target wireless channel.
  • the fourth acquiring module 180, the fifth acquiring module 190, and the sixth acquiring module 200 in the foregoing device embodiment shown in FIG. 6 may also be included in the foregoing device embodiment of FIG. 5 , which is not limited in the embodiments.
  • the target wireless channel with the shortest communication delay is acquired from the plurality of candidate wireless channels of the candidate wireless networks according to the current geographic location of the automatic driving vehicle in combination with the receiving time of the remote control request, and the control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • the present disclosure further provides a server.
  • Fig. 7 is a schematic block diagram of a server according to an embodiment of the present disclosure.
  • the server comprises a processor 71, a memory 72, a communication interface 73, and a bus 74.
  • the processor 71, the memory 72 and the communication interface 73 are connected and communicate with each other via the bus 74.
  • Executable program codes are stored in the memory 72.
  • the processor 71 is configured to run a program corresponding to the executable program codes by reading the executable program codes stored in the memory 72 for implementing the remote control method for an automatic driving vehicle according to the above embodiments.
  • the target wireless channel with the shortest communication delay is acquired from the plurality of candidate wireless channels of the candidate wireless networks according to the current geographic location of the automatic driving vehicle in combination with the receiving time of the remote control request, and the target wireless network corresponding to the target wireless channel is acquired, and the control instruction is transmitted to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • Fig. 8 is a schematic block diagram of a remote control system for an automatic driving vehicle according to an embodiment of the present disclosure.
  • the system includes a server 10 and an autonomous vehicle 20.
  • the server 10 is configured to receive a remote control request transmitted by the automatic driving vehicle 20, to acquire current geographic location information of the automatic driving vehicle 20 according to the information carried by the remote control request, to acquire a target wireless channel with a shortest communication delay from a plurality of candidate wireless channels of a plurality of candidate wireless networks according to the current geographic location information, to acquire a target wireless network corresponding to the target wireless channel, to determine a corresponding control instruction according to the remote control request, and to transmit the control instruction by using the target wireless channel of the target wireless network.
  • the automatic driving vehicle 20 is configured to transmit the remote control request to the server 10, and to receive the control instruction transmitted by the server 10.
  • the server After receiving the remote control request from the automatic driving vehicle, the server acquires the target wireless channel with the shortest communication delay from the plurality of candidate wireless channels of the candidate wireless networks according to the current geographic location of the automatic driving vehicle in combination with the receiving time of the remote control request, and acquires the target wireless network corresponding to the target wireless channel, and transmits the control instruction to the automatic driving vehicle by using the target wireless channel of the target wireless network. Therefore, the control instruction can reach the automatic driving vehicle in time, and low-delay communication requirements of the automatic driving vehicle can be satisfied, such that the automatic driving vehicle may rapidly respond to the control instruction, thereby improving the driving safety of the automatic driving vehicle.
  • the present disclosure further provides a non-transitory computer readable storage medium having a computer program stored thereon.
  • the computer program is executed by a processor, the remote control method for an automatic driving vehicle according to the embodiments of the present disclosure is implemented.
  • the present disclosure further provides a computer program product.
  • instructions in the computer program product are executed by a processor, the remote control method for an automatic driving vehicle according to the embodiments of the present disclosure is implemented.
  • first and second are used herein for purposes of description and are not intended to indicate or imply relative importance or significance.
  • feature defined with “first” and “second” may comprise one or more this feature distinctly or implicitly.
  • a plurality of' means two or more than two, unless specified otherwise.
  • the flow chart or any process or method described herein in other manners may represent a module, segment, or portion of code that comprises one or more executable instructions to implement the specified logic function(s) or that comprises one or more executable instructions of the steps of the progress.
  • the flow chart shows a specific order of execution, it is understood that the order of execution may differ from that which is depicted. For example, the order of execution of two or more boxes may be scrambled relative to the order shown.
  • the logic and/or step described in other manners herein or shown in the flow chart, for example, a particular sequence table of executable instructions for realizing the logical function may be specifically achieved in any computer readable medium to be used by the instruction execution system, device or equipment (such as the system based on computers, the system comprising processors or other systems capable of obtaining the instruction from the instruction execution system, device and equipment and executing the instruction), or to be used in combination with the instruction execution system, device and equipment.
  • the computer readable medium may be any device adaptive for including, storing, communicating, propagating or transferring programs to be used by or in combination with the instruction execution system, device or equipment.
  • the computer readable medium comprise but are not limited to: an electronic connection (an electronic device) with one or more wires, a portable computer enclosure (a magnetic device), a random access memory (RAM), a read only memory (ROM), an erasable programmable read-only memory (EPROM or a flash memory), an optical fiber device and a portable compact disk read-only memory (CDROM).
  • the computer readable medium may even be a paper or other appropriate medium capable of printing programs thereon, this is because, for example, the paper or other appropriate medium may be optically scanned and then edited, decrypted or processed with other appropriate methods when necessary to obtain the programs in an electric manner, and then the programs may be stored in the computer memories.
  • each part of the present disclosure may be realized by the hardware, software, firmware or their combination.
  • a plurality of steps or methods may be realized by the software or firmware stored in the memory and executed by the appropriate instruction execution system.
  • the steps or methods may be realized by one or a combination of the following techniques known in the art: a discrete logic circuit having a logic gate circuit for realizing a logic function of a data signal, an application-specific integrated circuit having an appropriate combination logic gate circuit, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
  • each function cell of the embodiments of the present disclosure may be integrated in a processing module, or these cells may be separate physical existence, or two or more cells are integrated in a processing module.
  • the integrated module may be realized in a form of hardware or in a form of software function modules. When the integrated module is realized in a form of software function module and is sold or used as a standalone product, the integrated module may be stored in a computer readable storage medium.
  • the storage medium mentioned above may be read-only memories, magnetic disks, CD, etc.

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Claims (12)

  1. Fernsteuerungsverfahren für ein automatisch fahrendes Fahrzeug, das auf einem Server eingesetzt wird, umfassend:
    das Empfangen einer Fernsteuerungsanforderung, die von einem automatisch fahrenden Fahrzeug übertragen wird;
    das Akquirieren aktueller geografischer Standortinformationen des automatisch fahrenden Fahrzeugs gemäß von der Fernsteuerungsanforderung beförderten Informationen;
    das Akquirieren eines drahtlosen Zielkanals mit einer geringsten Kommunikationsverzögerung aus einer Vielzahl von drahtlosen Kandidatskanälen einer Vielzahl von drahtlosen Kandidatsnetzwerken gemäß den aktuellen Standortinformationen und das Akquirieren eines drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht;
    das Bestimmen einer Steueranweisung gemäß der Fernsteuerungsanforderung; und
    das Übertragen der Steueranweisung an das automatisch fahrende Fahrzeug unter Verwendung des drahtlosen Zielkanals des drahtlosen Zielnetzwerks.
  2. Verfahren gemäß Anspruch 1 ferner umfassend:
    das Akquirieren einer Empfangszeit der Fernsteuerungsanforderung; und
    das Akquirieren des drahtlosen Zielkanals mit der geringsten Kommunikationsverzögerung aus der Vielzahl von drahtlosen Kandidatskanälen der Vielzahl von drahtlosen Kandidatsnetzwerken gemäß den aktuellen geografischen Standortinformationen und der Empfangszeit, und das Akquirieren des drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht.
  3. Verfahren gemäß Anspruch 1, wobei das Akquirieren des drahtlosen Zielkanals mit der geringsten Kommunikationsverzögerung aus der Vielzahl von drahtlosen Kandiatskanälen der Vielzahl von drahtlosen Kandidatsnetzwerken gemäß der aktuellen geografischen Standortinformationen und das Akquirieren des drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht, umfasst:
    das Akquirieren von Kommunikationsverzögerungen von jeweiligen drahtlosen Kandidatskanälen von jeweiligen drahtlosen Kandidatsnetzwerken an dem aktuellen geografischen Standort gemäß einer vorab gespeicherten Entsprechung zwischen geografischen Standorten, drahtlosen Netzwerken, drahtlosen Kanälen und Kommunikationsverzögerungen; und
    das Bestimmen des drahtlosen Zielkanals mit der kürzesten Kommunikationsverzögerung gemäß den Kommunikationsverzögerungen, das dem jeweiligen drahtlosen Kandidatskanal entspricht, und das Akquirieren des drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht.
  4. Verfahren gemäß Anspruch 2, wobei das Akquirieren des drahtlosen Zielkanals mit der geringsten Kommunikationsverzögerung aus der Vielzahl von drahtlosen Kandidatskanälen der Vielzahl von drahtlosen Kandidatsnetzwerken gemäß den aktuellen geografischen Standortinformationen und der Empfangszeit und das Akquirieren des drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht, umfasst:
    das Bestimmen von Kommunikationsverzögerungen, die den jeweiligen drahtlosen Kandidatskanälen der jeweiligen drahtlosen Kandidatsnetzwerke entsprechen, gemäß der Empfangszeit und den aktuellen geografischen Standortinformationen; und
    das Akquirieren des drahtlosen Zielkanals mit der geringsten Kommunikationsverzögerung gemäß Kommunikationsverzögerungen, die jeweiligen drahtlosen Kandidatskanälen entsprechen, und das Bestimmen des drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht.
  5. Verfahren gemäß Anspruch 1, wobei, vor dem Übertragen der Steueranweisung an das automatisch fahrende Fahrzeug unter Verwendung des drahtlosen Zielkanals des drahtlosen Zielnetzwerks, das Verfahren ferner umfasst:
    das Akquirieren von Prioritäten, die N drahtlosen Zielnetzwerken entsprechen, wobei N eine positive ganze Zahl größer als 1 ist;
    das Akquirieren eines drahtlosen Zielnetzwerks mit einer höchsten Priorität gemäß den Prioritäten, die den N drahtlosen Zielnetzwerken entsprechen, und das Nehmen des drahtlosen Zielnetzwerks mit der höchsten Priorität als das drahtlose Zielnetzwerk; und
    das Akquirieren eines drahtlosen Kanals, der dem drahtlosen Zielnetzwerk mit der höchsten Priorität entspricht, als den drahtlosen Zielkanal.
  6. Fernsteuerungsvorrichtung für ein automatisch fahrendes Fahrzeug umfassend:
    ein Empfangsmodul, das eingerichtet ist zum Empfangen einer Fernsteuerungsanforderung, die von einem automatisch fahrenden Fahrzeug übertragen wird;
    ein erstes Akquirierungsmodul, das eingerichtet ist zum Akquirieren aktueller geografischer Standortinformationen des automatisch fahrenden Fahrzeugs gemäß Informationen, die von der Fernsteuerungsanforderung übertragen wurden;
    ein zweites Akquirierungsmodul, das eingerichtet ist zum Akquirieren eines drahtlosen Zielkanals mit einer geringsten Kommunikationsverzögerung aus einer Vielzahl von drahtlosen Kandidatskanälen einer Vielzahl von drahtlosen Kandidatsnetzwerken gemäß den aktuellen geografischen Standortinformationen, und zum Akquirieren eines drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht;
    ein erstes Bestimmungsmodul, das eingerichtet ist zum Bestimmen einer Steueranweisung gemäß der Fernsteuerungsanforderung; und
    ein Übertragungsmodul, das eingerichtet ist zum Übertragen der Steueranweisung an das automatisch fahrende Fahrzeug unter Verwendung des drahtlosen Zielkanals des drahtlosen Zielnetzwerks.
  7. Vorrichtung gemäß Anspruch 6, ferner umfassend:
    ein drittes Akquirierungsmodul, das eingerichtet ist zum Akquirieren einer Empfangszeit der Fernsteuerungsanforderung; und
    ein zweites Bestimmungsmodul, das eingerichtet ist zum Akquirieren des drahtlosen Zielkanals mit der geringsten Kommunikationsverzögerung aus der Vielzahl von drahtlosen Kandidatskanälen der Vielzahl von drahtlosen Kandidatsnetzwerken gemäß der Empfangszeit und den aktuellen geografischen Standortinformationen und zum Akquirieren des drahtlosen Zielkanals, der dem drahtlosen Zielnetzwerk entspricht.
  8. Vorrichtung gemäß Anspruch 6, wobei das erste Bestimmungsmodul eingerichtet ist zum:
    Akquirieren von Kommunikationsverzögerungen von jeweiligen drahtlosen Kandidatskanälen von jeweiligen drahtlosen Kandidatsnetzwerken an dem aktuellen geografischen Standort, gemäß einer vorab gespeicherten Entsprechung zwischen geografischen Standorten, drahtlosen Netzwerken, drahtlosen Kanälen und Kommunikationsverzögerungen; und
    Bestimmen des drahtlosen Zielkanals mit der geringsten Kommunikationsverzögerung gemäß den Kommunikationsverzögerungen der jeweiligen drahtlosen Kandidatskanälen und Akquirieren des drahtlosen Zielkanals, der dem drahtlosen Zielkanal entspricht.
  9. Vorrichtung gemäß Anspruch 7, wobei das zweite Bestimmungsmodul eingerichtet ist zum:
    Bestimmen von Kommunikationsverzögerungen von jeweiligen drahtlosen Kandidatskanälen von jeweiligen drahtlosen Kandidatsnetzwerken gemäß der aktuellen geografischen Standortinformationen und der Empfangszeit; und
    Akquirieren des drahtlosen Zielkanals mit der geringsten Kommunikationsverzögerung gemäß den Kommunikationsverzögerungen der jeweiligen drahtlosen Kandidatskanäle und Bestimmen des drahtlosen Zielnetzwerks, das dem drahtlosen Zielkanal entspricht.
  10. Vorrichtung gemäß Anspruch 6 ferner umfassend:
    ein viertes Akquirierungsmodul, das eingerichtet ist zum Akquirieren von Prioritäten, die N drahtlosen Zielnetzwerken entsprechen, wobei N eine positive ganze Zahl größer als 1 ist;
    ein fünftes Akquirierungsmodul, das eingerichtet ist zum Akquirieren eines drahtlosen Zielnetzwerks mit einer höchsten Priorität gemäß den Prioritäten, die den jeweiligen N drahtlosen Zielnetzwerken entsprechen, und zum Nehmen des drahtlosen Zielnetzwerks mit der höchsten Priorität als das drahtlose Zielnetzwerk; und
    ein sechstes Akquirierungsmodul, das eingerichtet ist zum Akquirieren eines drahtlosen Kanals, der dem drahtlosen Zielnetzwerk mit der höchsten Priorität entspricht, als dem drahtlosen Zielkanal.
  11. Server umfassend einen Prozessor und einen Speicher;
    wobei der Prozessor eingerichtet ist zum Ausführen eines Programms, das ausführbaren Programmcode entspricht, indem er den ausführbaren Programmcode, der im Speicher gespeichert ist, liest, um das Fernsteuerungsverfahren für ein automatisch fahrendes Fahrzeug gemäß einem der Ansprüche 1 bis 5 zu implementieren.
  12. Computerprogrammprodukt, wobei, wenn Instruktionen in dem Computerprogrammprodukt von einem Prozessor ausgeführt werden, das Fernsteuerungsverfahren für ein automatisch fahrendes Fahrzeug gemäß einem der Ansprüche 1 bis 5 implementiert wird.
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